mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-25 08:36:08 +08:00
ROMFS split rc.board into defaults, sensors, and extras
This commit is contained in:
Daniel Agar
committed by
Kabir Mohammed
Kabir Mohammed
parent
d8ab059ff3
commit
fef65bf5c8
+24
-11
@@ -126,19 +126,32 @@ if(config_bl_file)
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)
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endif()
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if(EXISTS "${PX4_BOARD_DIR}/init/rc.board")
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add_custom_command(OUTPUT ${romfs_gen_root_dir}/init.d/rc.board
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COMMAND ${CMAKE_COMMAND} -E copy ${PX4_BOARD_DIR}/init/rc.board ${romfs_gen_root_dir}/init.d/rc.board
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DEPENDS
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${PX4_BOARD_DIR}/init/rc.board
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${romfs_gen_root_dir}/init.d/rcS
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COMMENT "ROMFS: copying rc.board"
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set(OPTIONAL_BOARD_RC)
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list(APPEND OPTIONAL_BOARD_RC
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rc.board_defaults
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rc.board_sensors
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rc.board_extras
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)
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foreach(board_rc_file ${OPTIONAL_BOARD_RC})
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if(EXISTS "${PX4_BOARD_DIR}/init/${board_rc_file}")
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message(STATUS "ROMFS: Adding ${board_rc_file}")
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add_custom_command(OUTPUT ${romfs_gen_root_dir}/init.d/${board_rc_file}
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COMMAND ${CMAKE_COMMAND} -E copy ${PX4_BOARD_DIR}/init/${board_rc_file} ${romfs_gen_root_dir}/init.d/${board_rc_file}
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DEPENDS
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${PX4_BOARD_DIR}/init/${board_rc_file}
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${romfs_gen_root_dir}/init.d/rcS
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COMMENT "ROMFS: copying ${board_rc_file}"
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)
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list(APPEND extras_dependencies
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${romfs_gen_root_dir}/init.d/rc.board
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)
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endif()
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list(APPEND extras_dependencies
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${romfs_gen_root_dir}/init.d/${board_rc_file}
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)
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endif()
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endforeach()
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add_custom_command(OUTPUT romfs_extras.stamp
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COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/extras/
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@@ -70,8 +70,6 @@ then
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param set SENS_FLOW_MINRNG 0.05
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param set SYS_FMU_TASK 1
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fi
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set PWM_DISARMED none
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@@ -21,15 +21,15 @@ set +e
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# it wastes flash
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#
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set AUX_MODE pwm
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set BOARD_RC /etc/init.d/rc.board
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set DATAMAN_OPT ""
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set FAILSAFE none
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set FAILSAFE_AUX none
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set FCONFIG /fs/microsd/etc/config.txt
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set FEXTRAS /fs/microsd/etc/extras.txt
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set FRC /fs/microsd/etc/rc.txt
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set FMU_ARGS ""
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set FMU_MODE pwm
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set FRC /fs/microsd/etc/rc.txt
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set IO_PRESENT no
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set IOFW "/etc/extras/px4_io-v2_default.bin"
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set IO_PRESENT no
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set LOG_FILE /fs/microsd/bootlog.txt
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@@ -134,22 +134,6 @@ if [ -f $FRC ]
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then
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sh $FRC
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else
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#
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# Waypoint storage.
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# REBOOTWORK this needs to start in parallel.
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#
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# TODO: fix board override $DATAMAN_OPT
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dataman start $DATAMAN_OPT
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#
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# Start the socket communication send_event handler.
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#
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send_event start
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#
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# Start the resource load monitor.
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#
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load_mon start
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#
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# Set the parameter file if mtd starts successfully.
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@@ -169,67 +153,69 @@ else
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fi
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#
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# Start the tone_alarm driver.
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# Needs to be started after the parameters are loaded (for CBRK_BUZZER).
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# Note that this will still play the already published startup tone.
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# Optional board defaults: rc.board_defaults
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#
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tone_alarm start
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#
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# Start system state indicator.
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#
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if ! rgbled start
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set BOARD_RC_DEFAULTS /etc/init.d/rc.board_defaults
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if [ -f $BOARD_RC_DEFAULTS ]
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then
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if blinkm start
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then
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blinkm systemstate
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fi
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echo "Board defaults: ${BOARD_RC_DEFAULTS}"
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sh $BOARD_RC_DEFAULTS
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fi
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rgbled_ncp5623c start
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#
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# FMUv5 may have both PWM I2C RGB LED support.
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#
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rgbled_pwm start
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unset BOARD_RC_DEFAULTS
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#
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# Set AUTOCNF flag to use it in AUTOSTART scripts.
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#
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if param compare SYS_AUTOCONFIG 1
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then
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# Wipe out params except RC*, flight modes and total flight time.
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# Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal
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param reset_nostart RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO*
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set AUTOCNF yes
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else
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set AUTOCNF no
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fi
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#
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# Waypoint storage.
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# REBOOTWORK this needs to start in parallel.
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#
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dataman start $DATAMAN_OPT
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#
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# Start the socket communication send_event handler.
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#
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send_event start
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#
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# Start the resource load monitor.
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#
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load_mon start
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#
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# Start system state indicator.
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#
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if ! rgbled start
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then
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rgbled_ncp5623c start
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#
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# Release 1.4.0 transitional support: set to old default if unconfigured,
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# this preserves the previous behaviour.
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# FMUv5 may have both PWM I2C RGB LED support.
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#
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if param compare BAT_N_CELLS 0
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rgbled_pwm start
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if blinkm start
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then
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param set BAT_N_CELLS 3
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blinkm systemstate
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fi
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fi
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###############################################################################
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# Begin setup for board specific configurations. #
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###############################################################################
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#
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# run boards rc.board if available
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# Start the tone_alarm driver.
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# Needs to be started after the parameters are loaded (for CBRK_BUZZER).
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# Note that this will still play the already published startup tone.
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#
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if [ -f $BOARD_RC ]
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then
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echo "Board init: ${BOARD_RC}"
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sh $BOARD_RC
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fi
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###############################################################################
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# End Setup for board specific configurations. #
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###############################################################################
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tone_alarm start
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if param compare SYS_FMU_TASK 1
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then
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@@ -343,9 +329,23 @@ else
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set OUTPUT_MODE hil
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sensors start -h
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commander start --hil
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# disable GPS
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param set GPS_1_CONFIG 0
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else
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#
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# board sensors: rc.sensors
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#
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set BOARD_RC_SENSORS /etc/init.d/rc.board_sensors
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if [ -f $BOARD_RC_SENSORS ]
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then
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echo "Board sensors: ${BOARD_RC_SENSORS}"
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sh $BOARD_RC_SENSORS
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fi
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unset BOARD_RC_SENSORS
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sh /etc/init.d/rc.sensors
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commander start
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fi
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@@ -436,11 +436,6 @@ else
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#
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sh /etc/init.d/rc.thermal_cal
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#
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# Start the logger.
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#
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sh /etc/init.d/rc.logging
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#
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# Start vmount to control mounts such as gimbals, disabled by default.
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#
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@@ -450,13 +445,30 @@ else
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fi
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#
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# Start any custom addons.
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# Optional board supplied extras: rc.board_extras
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#
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set BOARD_RC_EXTRAS /etc/init.d/rc.board_extras
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if [ -f $BOARD_RC_EXTRAS ]
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then
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echo "Board extras: ${BOARD_RC_EXTRAS}"
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sh $BOARD_RC_EXTRAS
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fi
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unset BOARD_RC_EXTRAS
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#
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# Start any custom addons from the sdcard.
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#
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if [ -f $FEXTRAS ]
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then
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echo "Addons script: ${FEXTRAS}"
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sh $FEXTRAS
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fi
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#
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# Start the logger.
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#
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sh /etc/init.d/rc.logging
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#
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# End of autostart.
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#
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@@ -465,17 +477,18 @@ fi
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#
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# Unset all script parameters to free RAM.
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#
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unset AUTOCNF
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unset AUX_MODE
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unset DATAMAN_OPT
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unset FAILSAFE
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unset FAILSAFE_AUX
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unset FCONFIG
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unset FEXTRAS
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unset FRC
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unset FMU_ARGS
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unset FMU_MODE
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unset IOFW
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unset FRC
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unset IO_PRESENT
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unset IOFW
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unset LOG_FILE
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unset LOGGER_ARGS
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unset LOGGER_BUF
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@@ -492,16 +505,14 @@ unset PWM_AUX_MAX
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unset PWM_AUX_MIN
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unset PWM_AUX_OUT
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unset PWM_AUX_RATE
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unset PWM_OUT
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unset PWM_RATE
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unset PWM_DISARMED
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unset PWM_MAX
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unset PWM_MIN
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unset PWM_OUT
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unset PWM_RATE
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unset SDCARD_MIXERS_PATH
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unset USE_IO
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unset VEHICLE_TYPE
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unset BOARD_RC
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unset AUTOCNF
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#
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# Boot is complete, inform MAVLink app(s) that the system is now fully up and running.
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